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   &#160;<span id="projectnumber">1.5.2</span>
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<p>Finite state machine to configure an EtherCAT slave.  
 <a href="structec__fsm__slave__config.html#details">More...</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Data Fields</h2></td></tr>
<tr class="memitem:a6b7e0ac3aa324aede3c39467672f7201"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structec__datagram__t.html">ec_datagram_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a></td></tr>
<tr class="memdesc:a6b7e0ac3aa324aede3c39467672f7201"><td class="mdescLeft">&#160;</td><td class="mdescRight">Datagram used in the state machine.  <a href="#a6b7e0ac3aa324aede3c39467672f7201">More...</a><br /></td></tr>
<tr class="separator:a6b7e0ac3aa324aede3c39467672f7201"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1e2372d1d2ca00c551f93a503d06586d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a></td></tr>
<tr class="memdesc:a1e2372d1d2ca00c551f93a503d06586d"><td class="mdescLeft">&#160;</td><td class="mdescRight">State change state machine.  <a href="#a1e2372d1d2ca00c551f93a503d06586d">More...</a><br /></td></tr>
<tr class="separator:a1e2372d1d2ca00c551f93a503d06586d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6c1f6900f5043f39d2d11250e5738dd0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="fsm__coe_8h.html#a734dfc127f55aed3a16529febddd1771">ec_fsm_coe_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__fsm__slave__config.html#a6c1f6900f5043f39d2d11250e5738dd0">fsm_coe</a></td></tr>
<tr class="memdesc:a6c1f6900f5043f39d2d11250e5738dd0"><td class="mdescLeft">&#160;</td><td class="mdescRight">CoE state machine.  <a href="#a6c1f6900f5043f39d2d11250e5738dd0">More...</a><br /></td></tr>
<tr class="separator:a6c1f6900f5043f39d2d11250e5738dd0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5760deffedeccf9457cd5bbf9c8b1706"><td class="memItemLeft" align="right" valign="top"><a class="el" href="fsm__soe_8h.html#a6f2210c6eb570d207312a8ea94a15527">ec_fsm_soe_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__fsm__slave__config.html#a5760deffedeccf9457cd5bbf9c8b1706">fsm_soe</a></td></tr>
<tr class="memdesc:a5760deffedeccf9457cd5bbf9c8b1706"><td class="mdescLeft">&#160;</td><td class="mdescRight">SoE state machine.  <a href="#a5760deffedeccf9457cd5bbf9c8b1706">More...</a><br /></td></tr>
<tr class="separator:a5760deffedeccf9457cd5bbf9c8b1706"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afad3c621c1ca68bcdb3b983cfa1101c0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="fsm__pdo_8h.html#ac13e2c6bdf50dbba47d2165f173322cd">ec_fsm_pdo_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__fsm__slave__config.html#afad3c621c1ca68bcdb3b983cfa1101c0">fsm_pdo</a></td></tr>
<tr class="memdesc:afad3c621c1ca68bcdb3b983cfa1101c0"><td class="mdescLeft">&#160;</td><td class="mdescRight">PDO configuration state machine.  <a href="#afad3c621c1ca68bcdb3b983cfa1101c0">More...</a><br /></td></tr>
<tr class="separator:afad3c621c1ca68bcdb3b983cfa1101c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa4f0d106474cbddf8159b09049d14398"><td class="memItemLeft" align="right" valign="top"><a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a></td></tr>
<tr class="memdesc:aa4f0d106474cbddf8159b09049d14398"><td class="mdescLeft">&#160;</td><td class="mdescRight">Slave the FSM runs on.  <a href="#aa4f0d106474cbddf8159b09049d14398">More...</a><br /></td></tr>
<tr class="separator:aa4f0d106474cbddf8159b09049d14398"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2878bf00f18738284e2a0e42a32c7374"><td class="memItemLeft" align="right" valign="top">void(*&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> )(<a class="el" href="fsm__slave__config_8h.html#a31e1e414b22a05b9dd1302d6ed036c0b">ec_fsm_slave_config_t</a> *)</td></tr>
<tr class="memdesc:a2878bf00f18738284e2a0e42a32c7374"><td class="mdescLeft">&#160;</td><td class="mdescRight">State function.  <a href="#a2878bf00f18738284e2a0e42a32c7374">More...</a><br /></td></tr>
<tr class="separator:a2878bf00f18738284e2a0e42a32c7374"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a706c10900a9822291dbd2a521889146b"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a></td></tr>
<tr class="memdesc:a706c10900a9822291dbd2a521889146b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retries on datagram timeout.  <a href="#a706c10900a9822291dbd2a521889146b">More...</a><br /></td></tr>
<tr class="separator:a706c10900a9822291dbd2a521889146b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1fbb50787df5cc82d434eff437d6e000"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__fsm__slave__config.html#a1fbb50787df5cc82d434eff437d6e000">request</a></td></tr>
<tr class="memdesc:a1fbb50787df5cc82d434eff437d6e000"><td class="mdescLeft">&#160;</td><td class="mdescRight">SDO request for SDO configuration.  <a href="#a1fbb50787df5cc82d434eff437d6e000">More...</a><br /></td></tr>
<tr class="separator:a1fbb50787df5cc82d434eff437d6e000"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5ac2f5854919d07c2c70501307881582"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__fsm__slave__config.html#a5ac2f5854919d07c2c70501307881582">request_copy</a></td></tr>
<tr class="memdesc:a5ac2f5854919d07c2c70501307881582"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copied SDO request.  <a href="#a5ac2f5854919d07c2c70501307881582">More...</a><br /></td></tr>
<tr class="separator:a5ac2f5854919d07c2c70501307881582"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7cf04a851c168dd46cebe1d311414abf"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structec__soe__request__t.html">ec_soe_request_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__fsm__slave__config.html#a7cf04a851c168dd46cebe1d311414abf">soe_request</a></td></tr>
<tr class="memdesc:a7cf04a851c168dd46cebe1d311414abf"><td class="mdescLeft">&#160;</td><td class="mdescRight">SDO request for SDO configuration.  <a href="#a7cf04a851c168dd46cebe1d311414abf">More...</a><br /></td></tr>
<tr class="separator:a7cf04a851c168dd46cebe1d311414abf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac1c8772376c738eb4b500b904bae8695"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structec__soe__request__t.html">ec_soe_request_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__fsm__slave__config.html#ac1c8772376c738eb4b500b904bae8695">soe_request_copy</a></td></tr>
<tr class="memdesc:ac1c8772376c738eb4b500b904bae8695"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copied SDO request.  <a href="#ac1c8772376c738eb4b500b904bae8695">More...</a><br /></td></tr>
<tr class="separator:ac1c8772376c738eb4b500b904bae8695"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaca0412b1e9430abb207655e6a42830a"><td class="memItemLeft" align="right" valign="top">unsigned long&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__fsm__slave__config.html#aaca0412b1e9430abb207655e6a42830a">jiffies_start</a></td></tr>
<tr class="memdesc:aaca0412b1e9430abb207655e6a42830a"><td class="mdescLeft">&#160;</td><td class="mdescRight">For timeout calculations.  <a href="#aaca0412b1e9430abb207655e6a42830a">More...</a><br /></td></tr>
<tr class="separator:aaca0412b1e9430abb207655e6a42830a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a884fcfd4e7f6e89d0d99dab720939c07"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__fsm__slave__config.html#a884fcfd4e7f6e89d0d99dab720939c07">take_time</a></td></tr>
<tr class="memdesc:a884fcfd4e7f6e89d0d99dab720939c07"><td class="mdescLeft">&#160;</td><td class="mdescRight">Store jiffies after datagram reception.  <a href="#a884fcfd4e7f6e89d0d99dab720939c07">More...</a><br /></td></tr>
<tr class="separator:a884fcfd4e7f6e89d0d99dab720939c07"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Finite state machine to configure an EtherCAT slave. </p>

<p class="definition">Definition at line <a class="el" href="fsm__slave__config_8h_source.html#l00054">54</a> of file <a class="el" href="fsm__slave__config_8h_source.html">fsm_slave_config.h</a>.</p>
</div><h2 class="groupheader">Field Documentation</h2>
<a id="a6b7e0ac3aa324aede3c39467672f7201"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6b7e0ac3aa324aede3c39467672f7201">&#9670;&nbsp;</a></span>datagram</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="structec__datagram__t.html">ec_datagram_t</a>* ec_fsm_slave_config::datagram</td>
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      </table>
</div><div class="memdoc">

<p>Datagram used in the state machine. </p>

<p class="definition">Definition at line <a class="el" href="fsm__slave__config_8h_source.html#l00056">56</a> of file <a class="el" href="fsm__slave__config_8h_source.html">fsm_slave_config.h</a>.</p>

</div>
</div>
<a id="a1e2372d1d2ca00c551f93a503d06586d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1e2372d1d2ca00c551f93a503d06586d">&#9670;&nbsp;</a></span>fsm_change</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a>* ec_fsm_slave_config::fsm_change</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>State change state machine. </p>

<p class="definition">Definition at line <a class="el" href="fsm__slave__config_8h_source.html#l00057">57</a> of file <a class="el" href="fsm__slave__config_8h_source.html">fsm_slave_config.h</a>.</p>

</div>
</div>
<a id="a6c1f6900f5043f39d2d11250e5738dd0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6c1f6900f5043f39d2d11250e5738dd0">&#9670;&nbsp;</a></span>fsm_coe</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="fsm__coe_8h.html#a734dfc127f55aed3a16529febddd1771">ec_fsm_coe_t</a>* ec_fsm_slave_config::fsm_coe</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>CoE state machine. </p>

<p class="definition">Definition at line <a class="el" href="fsm__slave__config_8h_source.html#l00058">58</a> of file <a class="el" href="fsm__slave__config_8h_source.html">fsm_slave_config.h</a>.</p>

</div>
</div>
<a id="a5760deffedeccf9457cd5bbf9c8b1706"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5760deffedeccf9457cd5bbf9c8b1706">&#9670;&nbsp;</a></span>fsm_soe</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="fsm__soe_8h.html#a6f2210c6eb570d207312a8ea94a15527">ec_fsm_soe_t</a>* ec_fsm_slave_config::fsm_soe</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>SoE state machine. </p>

<p class="definition">Definition at line <a class="el" href="fsm__slave__config_8h_source.html#l00059">59</a> of file <a class="el" href="fsm__slave__config_8h_source.html">fsm_slave_config.h</a>.</p>

</div>
</div>
<a id="afad3c621c1ca68bcdb3b983cfa1101c0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afad3c621c1ca68bcdb3b983cfa1101c0">&#9670;&nbsp;</a></span>fsm_pdo</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="fsm__pdo_8h.html#ac13e2c6bdf50dbba47d2165f173322cd">ec_fsm_pdo_t</a>* ec_fsm_slave_config::fsm_pdo</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>PDO configuration state machine. </p>

<p class="definition">Definition at line <a class="el" href="fsm__slave__config_8h_source.html#l00060">60</a> of file <a class="el" href="fsm__slave__config_8h_source.html">fsm_slave_config.h</a>.</p>

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<a id="aa4f0d106474cbddf8159b09049d14398"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa4f0d106474cbddf8159b09049d14398">&#9670;&nbsp;</a></span>slave</h2>

<div class="memitem">
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      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a>* ec_fsm_slave_config::slave</td>
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      </table>
</div><div class="memdoc">

<p>Slave the FSM runs on. </p>

<p class="definition">Definition at line <a class="el" href="fsm__slave__config_8h_source.html#l00062">62</a> of file <a class="el" href="fsm__slave__config_8h_source.html">fsm_slave_config.h</a>.</p>

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<a id="a2878bf00f18738284e2a0e42a32c7374"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2878bf00f18738284e2a0e42a32c7374">&#9670;&nbsp;</a></span>state</h2>

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          <td class="memname">void(* ec_fsm_slave_config::state) (<a class="el" href="fsm__slave__config_8h.html#a31e1e414b22a05b9dd1302d6ed036c0b">ec_fsm_slave_config_t</a> *)</td>
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<p>State function. </p>

<p class="definition">Definition at line <a class="el" href="fsm__slave__config_8h_source.html#l00063">63</a> of file <a class="el" href="fsm__slave__config_8h_source.html">fsm_slave_config.h</a>.</p>

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<a id="a706c10900a9822291dbd2a521889146b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a706c10900a9822291dbd2a521889146b">&#9670;&nbsp;</a></span>retries</h2>

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          <td class="memname">unsigned int ec_fsm_slave_config::retries</td>
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<p>Retries on datagram timeout. </p>

<p class="definition">Definition at line <a class="el" href="fsm__slave__config_8h_source.html#l00064">64</a> of file <a class="el" href="fsm__slave__config_8h_source.html">fsm_slave_config.h</a>.</p>

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<a id="a1fbb50787df5cc82d434eff437d6e000"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1fbb50787df5cc82d434eff437d6e000">&#9670;&nbsp;</a></span>request</h2>

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          <td class="memname"><a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a>* ec_fsm_slave_config::request</td>
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<p>SDO request for SDO configuration. </p>

<p class="definition">Definition at line <a class="el" href="fsm__slave__config_8h_source.html#l00065">65</a> of file <a class="el" href="fsm__slave__config_8h_source.html">fsm_slave_config.h</a>.</p>

</div>
</div>
<a id="a5ac2f5854919d07c2c70501307881582"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5ac2f5854919d07c2c70501307881582">&#9670;&nbsp;</a></span>request_copy</h2>

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          <td class="memname"><a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a> ec_fsm_slave_config::request_copy</td>
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<p>Copied SDO request. </p>

<p class="definition">Definition at line <a class="el" href="fsm__slave__config_8h_source.html#l00066">66</a> of file <a class="el" href="fsm__slave__config_8h_source.html">fsm_slave_config.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a7cf04a851c168dd46cebe1d311414abf">&#9670;&nbsp;</a></span>soe_request</h2>

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          <td class="memname"><a class="el" href="structec__soe__request__t.html">ec_soe_request_t</a>* ec_fsm_slave_config::soe_request</td>
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<p>SDO request for SDO configuration. </p>

<p class="definition">Definition at line <a class="el" href="fsm__slave__config_8h_source.html#l00067">67</a> of file <a class="el" href="fsm__slave__config_8h_source.html">fsm_slave_config.h</a>.</p>

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<a id="ac1c8772376c738eb4b500b904bae8695"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac1c8772376c738eb4b500b904bae8695">&#9670;&nbsp;</a></span>soe_request_copy</h2>

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          <td class="memname"><a class="el" href="structec__soe__request__t.html">ec_soe_request_t</a> ec_fsm_slave_config::soe_request_copy</td>
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<p>Copied SDO request. </p>

<p class="definition">Definition at line <a class="el" href="fsm__slave__config_8h_source.html#l00068">68</a> of file <a class="el" href="fsm__slave__config_8h_source.html">fsm_slave_config.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aaca0412b1e9430abb207655e6a42830a">&#9670;&nbsp;</a></span>jiffies_start</h2>

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          <td class="memname">unsigned long ec_fsm_slave_config::jiffies_start</td>
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<p>For timeout calculations. </p>

<p class="definition">Definition at line <a class="el" href="fsm__slave__config_8h_source.html#l00069">69</a> of file <a class="el" href="fsm__slave__config_8h_source.html">fsm_slave_config.h</a>.</p>

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<a id="a884fcfd4e7f6e89d0d99dab720939c07"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a884fcfd4e7f6e89d0d99dab720939c07">&#9670;&nbsp;</a></span>take_time</h2>

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          <td class="memname">unsigned int ec_fsm_slave_config::take_time</td>
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<p>Store jiffies after datagram reception. </p>

<p class="definition">Definition at line <a class="el" href="fsm__slave__config_8h_source.html#l00070">70</a> of file <a class="el" href="fsm__slave__config_8h_source.html">fsm_slave_config.h</a>.</p>

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